EP1554603A1 - Method and device for monitoring dead angles of a motor vehicle - Google Patents
Method and device for monitoring dead angles of a motor vehicleInfo
- Publication number
- EP1554603A1 EP1554603A1 EP03750681A EP03750681A EP1554603A1 EP 1554603 A1 EP1554603 A1 EP 1554603A1 EP 03750681 A EP03750681 A EP 03750681A EP 03750681 A EP03750681 A EP 03750681A EP 1554603 A1 EP1554603 A1 EP 1554603A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- motor vehicle
- warning
- vehicle
- lane
- relative
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9315—Monitoring blind spots
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side of the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93275—Sensor installation details in the bumper area
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93277—Sensor installation details in the lights
Definitions
- the invention relates to a method and a device for monitoring blind spots of a motor vehicle according to the preamble of claim 1 and claim 10.
- blind spot areas of the vehicle Due to the restricted field of vision of the driver and the geometric conditions on a vehicle, i.e. for example, due to spars between the vehicle windows that obstruct the view, it is generally not possible for the driver of the vehicle to see all areas around a vehicle without turning or turning his head. There are areas immediately behind and in front of the vehicle that the driver cannot see. There are also areas on the side of the vehicle that the driver cannot see by turning his head without a significant change in the field of vision. These poorly visible areas on the sides of the vehicle are referred to as blind spot areas of the vehicle, this area varying depending on the size and seating position of the driver and on the type and setting of the exterior mirrors.
- a system for monitoring an area on the side of a vehicle in a dynamic traffic environment is known from EP 1 026 522 A2.
- the system has an IR transmitter unit and an IR receiver unit, which are arranged on the side of the vehicle.
- a lateral area to be monitored is defined by these IR transmitting and receiving units, an evaluation unit determining whether an object is located in the monitoring area.
- the driver is informed of the presence of an object in the monitored area via a suitable display unit.
- a disadvantage of the known system is that the driver is also advised of objects that are meaningless for the guidance of his vehicle.
- the invention is therefore based on the object of providing a method and a device for monitoring the blind spot of a motor vehicle, the driver only receiving a warning if the object detected in the blind spot is important for the vehicle guidance.
- the method according to the invention for monitoring the blind spot on the side of a motor vehicle, which activates a warning function to emit a warning to the driver when an object is in a predetermined warning area has the following steps: a) determining the relative speed v re ⁇ between the object and the motor vehicle, determining the direction of travel of the object relative to the motor vehicle and determining the position of the object relative to the motor vehicle within a predetermined sensor range, b) issuing a warning to the driver if the direction of travel of the object corresponds to that of the motor vehicle, the relative speed v re ⁇ between the object and the motor vehicle lies within a predetermined range, defined by a lower range limit v u and an upper range limit v 0 , the predetermined range containing the relative speed zero, and the position of the object (F2) lying within the warning range.
- the relative speed is related to the motor vehicle, in other words, if the relative speed is greater than zero, the object moves faster than the vehicle and if the relative speed is less than zero, the object is slower than the vehicle or it is oncoming traffic.
- Objects include pedestrians, vehicles, bicycles, motorcycles, trucks and buses.
- the direction of travel of the object relative to the motor vehicle is defined by the direction of the road on which the object is moving relative to the vehicle. In other words, with respect to the motor vehicle, an object can only have one of two directions of travel, either it moves in the same direction of travel as the vehicle or it moves in the opposite direction of travel. In the latter case, there is oncoming traffic.
- an object that has zero relative speed with respect to the vehicle and one outer lane changes to a lane adjacent to the vehicle, the same direction of travel as the vehicle, although it moves in a vertical direction towards the vehicle in relation to the relative speed.
- the sensor area is predetermined by the area of the sensor in which this detects objects and the warning area is the area within which a warning is given to the driver, ie the blind spot area. The warning area is part of the sensor area.
- a warning is preferably also generated at relative speeds greater than the positive upper range limit v 0 , ie in this preferred embodiment a warning is generated at all positive relative speeds if the further conditions mentioned above are met.
- the predetermined range is defined by the interval of the relative speeds from -30 km / h to + 100 km / h, preferably -15 km / h to + 50 km / h and in particular - 5 km / h to + 30 km / h ,
- the reason for this is that an object approaching at high speed covers a larger distance per unit of time and must therefore already be monitored at a further distance.
- the invention thus ensures that a driving or warning situation is assessed not only on the basis of the fact whether an object is in a static warning area or distance that is dependent only on a speed or a driving parameter, but rather the individual properties of the approaching object (e.g. Depending on the situation, speed, angle [see Fig. 8]) can be included in the assessment.
- the distance and the relative speed and, if necessary, also the angle information (see above) for each detected object is therefore relevant for the output of a warning.
- the range limits are a function of the speed of the motor vehicle, in other words, at a low speed of the vehicle, the range limits are reduced, while at a high speed the range limits are shifted to higher relative speeds.
- the warning function is preferably independent of the direction of the entry of the object into the blind spot and the direction of the exit of the object from the blind spot. Further The warning function is independent of the background of the object entering the blind spot and independent of standing objects, their orientation and their background.
- driving situations are classified, each classified driving situation containing the information as to whether the warning function is activated or not when an object enters the blind spot area.
- the method also has the following steps: determining the current driving situation of the motor vehicle and object, determining that classified driving situation that corresponds to the current driving situation, and activating the warning function in accordance with the information of the determined classified driving situation.
- the classification preferably takes into account two further lanes to the side of the lane of the motor vehicle. This measure is generally sufficient.
- the assessment as to whether a warning function is triggered when an object enters a blind spot or warning area of the motor vehicle is carried out on both sides of the motor vehicle, in other words, both sides of the motor vehicle are monitored in order to avoid cutting-in and overtaking processes or generally cover lane changes with monitoring.
- an angle is recorded or calculated as an input variable for the warning function in the driving plane of the motor vehicle, which essentially results from the direction of travel of the motor vehicle (F1) and the straight line spanned between a sensor device for monitoring a warning region and the object gain additional advantageous knowledge for assessing the driving situation. If an object is detected in the warning area (e.g. radial distance is below the warning threshold), the additional information about the described angle can be used to make a statement as to whether the object is in an adjacent or possibly existing third lane. If the object is in a third lane, no warning is necessary because it is possible to safely move out into the middle lane.
- the position of the detected object relative to the vehicle is preferably determined by measuring the radial distance from the vehicle and measuring the angle from which the object approaches.
- control device includes a memory for storing classified driving conditions and a comparator for comparing a current driving condition determined by the control unit from the data of the sensor device with the classified driving conditions.
- the sensor device can be arranged in a side mirror, an outside mirror, the rear bumper or a rear light of the motor vehicle.
- Fig. 8 basic structure of a device for monitoring blind spots
- Fig. 9 possible definition of an angle between the motor vehicle and a
- Fig. 1 shows a schematic representation of the mutual so-called blind spots of a motor vehicle. Shown is a motor vehicle F1 that travels from right to left in the middle lane S2 of a lane FB with three lanes S1, S2, S3 in the drawing. A rectangular area W1, W2 with edges a, b, which, for example, define a rectangle of approximately 5 ⁇ 5 m, is shown on the driver and passenger side. These approximate areas W1, W2 are defined below as blind spot areas or warning areas which the driver cannot see in the exterior mirrors. The areas depend on the size and the seating position of the driver as well as on the type and setting of the exterior mirrors and on the structure of the vehicle itself. Furthermore, the size of the blind spot areas depends on the driving situation, for example on the speed.
- vehicle F1 the vehicle in the driver's blind spot of which an object enters
- object vehicle another vehicle F2 that is referred to as an object vehicle.
- the direction of movement of the vehicle F1, the blind angle of which is considered, is from right to left in the plane of the drawing.
- FIG. 2a shows an overtaking process in which two vehicles F1 and F2 have the same direction of travel FR and vehicle F1 is slowly being overtaken by faster object vehicle F2.
- a warning is triggered by the intrusion of the object vehicle F2 into the driver's blind spot area W1 of the vehicle F1.
- FIG. 2b shows a situation comparable to FIG. 2a, in which the object vehicle F2 located in the blind spot area W1 of the vehicle F1 has the same speed as the vehicle F1. The driver of vehicle F1 is warned.
- FIGS. 3a to 3c shows a situation in which the object vehicle F2 slowly falls behind the vehicle F1, which is represented by the rearward-pointing arrow, and wanders through the blind spot of the vehicle F1.
- the driver of vehicle F1 is warned.
- the direction of travel FR of both vehicles F1, F2 is also identical here.
- Other situations, such as those shown in FIGS. 3a to 3c, in which a warning function is triggered by the penetration of an object into a blind spot of a vehicle, can be defined both for the driver side and analogously for the passenger side.
- FIG. 3a shows a situation in which the object vehicle F2 enters the driver's blind spot W1 of the vehicle F1 as oncoming traffic.
- An object is perceived as oncoming traffic, for example, by detecting a negative and high relative speed V re
- FIG. 4 shows in a graphic representation the areas of the relative speeds V re
- the relative speed v re ⁇ is related to the vehicle in order to achieve a correct sign definition. At relative speeds less than a lower limit v u between the vehicle and an object does not trigger a warning, at relative speeds V re
- the range limits mentioned may be dependent on the vehicle's own speed VF1 and on driving parameters (e.g. acceleration process, country road, highway travel) of the vehicle F1.
- FIGS. 5a-5d show possible directions of entry and exit into a blind spot of a vehicle for vehicles in the same direction of travel FR and for oncoming traffic.
- the terms "right”, “left”, “front” and “rear” used here with regard to the possible entry and exit directions refer to the direction of movement of the object vehicle F2.
- FIG. 5a schematically shows the 6 essential entry directions, represented by arrows 1.1, 1.2, 1.3, 1.4, 1.5 and 1.6, into which the vehicle F2 can enter the driver's blind spot area W1 of the vehicle F1.
- Three lanes S1, S2, S3 of a lane FB are also shown.
- the arrows have the following meaning:
- 5c schematically shows the two main directions of entry, represented by arrows 3.1 and 3.2, into which the vehicle F2 can enter the driver's blind spot area W1 of the vehicle F1 as oncoming traffic.
- the arrows have the following meaning:
- 5d schematically shows the 3 main exit directions, represented by arrows 4.1, 4.2 and 4.3, in which the vehicle F2 can leave the driver's blind spot area W1 of the vehicle F1.
- the arrows have the following meaning:
- FIGS. 6a-6c show three examples from a large number of possible classified driving situations with triggering of a warning signal, which are part of the matrix explained above in a parameterized form.
- FIG. 6a shows the vehicle F1 moving in lane S1 with the object vehicle F2 traveling behind it, which changes in the direction 1.1 to lane S2 and thereby reaches the dead center area W1 of the vehicle F1. Since the directions of travel of the vehicles are identical, the relative speed is greater than zero (and is within the predetermined range v u to v 0 ) and the position P of the object is within the warning range, a warning is triggered. The object vehicle leaves the blind spot area of vehicle F1 again in the direction of 2.6.
- 6b shows the vehicle F1 moving in lane S1.
- the object vehicle F2 approaches from behind in the direction 1.2 and enters the blind spot area W1 of the vehicle F1. Since the driving directions of the vehicles are identical, the relative speed V re
- the object vehicle leaves the blind spot area of vehicle F1 again in the direction of 2.6.
- 6c shows the vehicle F1 moving in lane S1. By changing the object vehicle F2 in the direction, 1.3 on lane S3, the latter enters the blind spot area W1 of the vehicle F1.
- the relative speed is greater than zero (and is within the predetermined range v u to v 0 ) and the object is in the warning area, a warning is triggered.
- the object vehicle leaves the blind spot area of vehicle F1 again in the direction of 2.6.
- FIGS. 7a-7c show three examples from a large number of possible classified driving situations without triggering a warning signal.
- FIG. 7a shows vehicle F1 with blind spot area W1, which moves in lane S1 in the predetermined direction of travel (i.e. in the drawing plane from right to left).
- the object vehicle F2 moves in the opposite direction FR on the lane S2 in the direction 3.2 and enters the blind spot area W1 of the vehicle F1. No warning is triggered.
- the object vehicle leaves the blind spot area again in the direction
- FIG. 7b shows the vehicle F1 with blind spot area W1, which moves in the lane S1 in the predetermined direction of travel FR (i.e. in the drawing plane from right to left).
- the object vehicle F2 moves in the opposite direction in the direction 3.2 and enters the blind spot area W1 of the vehicle F1. No warning is triggered.
- the object vehicle leaves the Totwinkelbe rich again in the direction
- FIG. 7c finally shows the vehicle F1 with the blind spot area W1, which moves in the lane S1 in the predetermined direction of travel FR (ie in the drawing plane from right to left).
- the object vehicle F2 moves in the opposite direction FR on the lane S2 in the direction 3.2 and enters the blind spot area W1 of the vehicle F1. No warning is triggered.
- the object vehicle leaves the blind spot area back in direction 4.1, ie it changes to lane S1.
- FIG. 8 shows a basic structure of a device for monitoring blind angles.
- a computing device R receives different information about at least one object F2 and / or about one's own driving situation.
- the information about an object F2 can be provided by a sensor, not shown.
- information about the position P of stationary objects is provided by a storage device (e.g. navigation device).
- the provision of data of a position P for the computing device R is shown in FIG. 8 as a dashed arrow.
- the determination or communication of a direction of travel FR can also be provided by a direction-of-travel determination device (eg navigation device).
- the optional information branch P is shown in dashed lines in FIG. 8.
- the direction of travel determination FRB determines the direction of travel FR from the relative speed V re
- the time course of a relative speed can also be used.
- ⁇ 0) is assessed as the same overall direction of travel.
- , the distance d and the angle ⁇ between the motor vehicle F1 and the object F2 are made available to the computing device R.
- the computing device R has its own speed V i as well as signals by actuating the left or right turn signals BL, BR. Additional information about the driving situation, such as acceleration value, steering angle of motor vehicle F1, can be part of the information provided to computing device R.
- a warning function warns the driver in information level I or in warning level W1 according to the following scheme:
- a vehicle If a vehicle is detected in the warning area, this is signaled to the driver. An intensive or urgent warning is given as soon as the driver indicates a change of lane by activating a turn signal in this situation.
- the driver can be signaled optically and / or acoustically and / or haptically. If further areas in addition to the motor vehicle F1 are monitored by a further sensor, corresponding additional inputs are provided on the computing device R.
- FIG. 9 shows a possible definition of an angle ⁇ , which is recorded as an input variable for the warning function, between the motor vehicle F1 and an object F2.
- the angle is defined in the driving plane by the direction of travel and the straight line which results between a sensor device (not shown in FIG. 9) and the object F2 to be monitored. How exactly the straight line and ultimately the angle ⁇ is defined (end point at object F2 in the center of the vehicle or at the center of the object or at an object point with the smallest distance, etc.) is irrelevant if the relevant facts in the computing device R or in the sensor or other Control units are considered for a safe and reliable warning function.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10247290A DE10247290B4 (en) | 2002-10-10 | 2002-10-10 | Method and device for monitoring dead angles of a motor vehicle |
DE10247290 | 2002-10-10 | ||
PCT/EP2003/010960 WO2004036244A1 (en) | 2002-10-10 | 2003-10-02 | Method and device for monitoring dead angles of a motor vehicle |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1554603A1 true EP1554603A1 (en) | 2005-07-20 |
EP1554603B1 EP1554603B1 (en) | 2013-12-11 |
Family
ID=32038462
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP03750681.3A Expired - Lifetime EP1554603B1 (en) | 2002-10-10 | 2003-10-02 | Method and device for monitoring dead angles of a motor vehicle |
Country Status (4)
Country | Link |
---|---|
US (1) | US7504932B2 (en) |
EP (1) | EP1554603B1 (en) |
DE (1) | DE10247290B4 (en) |
WO (1) | WO2004036244A1 (en) |
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JP4471910B2 (en) | 2005-09-14 | 2010-06-02 | 任天堂株式会社 | Virtual positioning program |
DE102005054972A1 (en) * | 2005-10-27 | 2007-05-03 | Daimlerchrysler Ag | Motor vehicle`s dead angle monitoring method, involves accomplishing checking of whether lanes change is accomplished based on infrastructure of traffic before warning, where driver warning is omitted if result of checking is not possible |
DE102006028610B4 (en) | 2006-06-22 | 2023-02-09 | Volkswagen Ag | Driver assistance system with a warning function for monitoring a lane change of a motor vehicle |
TW201100280A (en) * | 2009-06-19 | 2011-01-01 | Automotive Res & Testing Ct | Collision warning system for vehicle |
US8527151B2 (en) * | 2009-12-07 | 2013-09-03 | Ford Global Technologies, Llc | Side impact safety system with blind-spot detection radar data fusion |
EP2517189B1 (en) | 2009-12-22 | 2014-03-19 | Leddartech Inc. | Active 3d monitoring system for traffic detection |
US8432309B2 (en) | 2010-11-29 | 2013-04-30 | Freescale Semiconductor, Inc. | Automotive radar system and method for using same |
US8908159B2 (en) | 2011-05-11 | 2014-12-09 | Leddartech Inc. | Multiple-field-of-view scannerless optical rangefinder in high ambient background light |
CA2839194C (en) | 2011-06-17 | 2017-04-18 | Leddartech Inc. | System and method for traffic side detection and characterization |
CA2865733C (en) | 2012-03-02 | 2023-09-26 | Leddartech Inc. | System and method for multipurpose traffic detection and characterization |
WO2015166558A1 (en) * | 2014-04-30 | 2015-11-05 | 三菱電機株式会社 | Periphery monitoring device, periphery monitoring system, and periphery monitoring method |
DE102014010936B4 (en) * | 2014-07-28 | 2023-08-17 | S.M.S, Smart Microwave Sensors Gmbh | Device to be placed on a motor vehicle |
CA2960123C (en) | 2014-09-09 | 2021-04-13 | Leddartech Inc. | Discretization of detection zone |
US9649979B2 (en) * | 2015-01-29 | 2017-05-16 | Toyota Motor Engineering & Manufacturing North America, Inc. | Autonomous vehicle operation in view-obstructed environments |
US20160252610A1 (en) * | 2015-02-26 | 2016-09-01 | Delphi Technologies, Inc. | Blind-spot radar system with improved semi-trailer tracking |
JP6507862B2 (en) | 2015-06-02 | 2019-05-08 | トヨタ自動車株式会社 | Peripheral monitoring device and driving support device |
US10217363B2 (en) * | 2015-10-29 | 2019-02-26 | Faraday&Future Inc. | Methods and systems for electronically assisted lane entrance |
DE102016202829A1 (en) * | 2016-02-24 | 2017-08-24 | Bayerische Motoren Werke Aktiengesellschaft | Device for transverse guidance support for a road-bound vehicle |
DE112018001928T5 (en) * | 2017-07-14 | 2019-12-19 | Komatsu Ltd. | DEVICE FOR MANAGING VEHICLES, METHOD FOR MANAGING VEHICLES, AND PROGRAM |
DE102017219902A1 (en) * | 2017-11-09 | 2019-05-09 | Robert Bosch Gmbh | Method and control unit for blind spot monitoring on a two-wheeler |
CN110509842B (en) * | 2019-08-15 | 2023-03-24 | 重庆长安汽车股份有限公司 | Vehicle low-speed section blind area detection and lane change auxiliary method and system |
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CN113702068B (en) * | 2021-08-31 | 2023-11-07 | 中汽院(重庆)汽车检测有限公司 | Evaluation system and evaluation method for commercial vehicle blind area monitoring system |
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2002
- 2002-10-10 DE DE10247290A patent/DE10247290B4/en not_active Expired - Fee Related
-
2003
- 2003-10-02 EP EP03750681.3A patent/EP1554603B1/en not_active Expired - Lifetime
- 2003-10-02 WO PCT/EP2003/010960 patent/WO2004036244A1/en not_active Application Discontinuation
- 2003-10-02 US US10/531,089 patent/US7504932B2/en not_active Expired - Lifetime
Non-Patent Citations (1)
Title |
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See references of WO2004036244A1 * |
Also Published As
Publication number | Publication date |
---|---|
EP1554603B1 (en) | 2013-12-11 |
US7504932B2 (en) | 2009-03-17 |
WO2004036244A1 (en) | 2004-04-29 |
DE10247290A1 (en) | 2004-04-22 |
DE10247290B4 (en) | 2013-04-18 |
US20060070787A1 (en) | 2006-04-06 |
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